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\vieww17340\viewh13020\viewkind0
\deftab720
\pard\pardeftab720\partightenfactor0

\f0\b\fs18 \cf0 Info
\f1\b0 \
\
Test designer: C\'e9dric Godin\
Creation date:    20/03/2019\ul \
\ulnone ID Jira: 	SEC-343\
Test Title: Pioneer move_base validation\ul \
\ulnone \
\

\f0\b Test description 
\f1\b0 \
\
Test objectives and goals: \
Validate proper operation of move_base path planning node on pioneer robot\
\
Sub-system(s): navigation\ul \
\ulnone \
\pard\pardeftab720\partightenfactor0
\cf0 Component(s) (devices and test equipment):\
-Pioneer\
-Roboclaw\
-RP-Lidar\
-Intel Realsense d435\
-Laptop\ul \
\
\ulnone Environment (location, conditions): 1033\ul \
\
\ulnone Test Procedure (include files and illustrations): \
\

\f0\b \cf2 THERE MUST BE A VALID RTAB-MAP DATABASE ON THE ROBOT BEFORE RUNNING NAVIGATION. SEE MAPPING TEST.\
NAVIGATION AREA MUST BE MAPPED.
\f1\b0 \cf0 \
\
-Unplug lidar usb under pioneer top on left side\
-Open pioneer top\
\pard\pardeftab720\li-720\fi360\partightenfactor0
\cf0 -Plug Roboclaw in orange power pack\
-Plug Jetson power supply (extension cord suggested)\
-Install top on pioneer\
-Plug in lidar under pioneer top on left side\
-Power on Jetson (power button reachable trough hole on pioneer right side\
\
[On Pioneer]\
$ roslaunch securbot_pkg localization.launch\
$ roslaunch securbot_pkg navigation.launch\
\
[On Laptop]\
$ roscd securbot_pkg/launch\
$ rosrun rviz rviz -d navigation.rviz\
\pard\pardeftab720\li-720\fi360\partightenfactor0
\cf0 \
Validate that robot is localized in map. If necessary, move robot around using teleop twist joystick. See mapping.\
Set goal with the 2D nav goal button in rviz then click and drag in the map.\
\
\pard\pardeftab720\partightenfactor0
\cf0 \
Test paramters and inputs (limits, tolerances, settings): \
Existing database, nav goal trough rviz\ul \
\
\ulnone Expected results: \
Robot reaches goal avoiding obstacles.\
Global and local costmaps are updated in rviz and match robot environnement.\ul \
\
\ulnone \

\f0\b Security\
\

\f1\b0 Potential risks:\
[ \cf3 YES \cf0 / NO ]	Mechanical equipment damages (high speeds, sharp objects, projectiles)\
[ \cf3 YES \cf0 / NO ]	Electrical equipment damages (high power, reverse polarity, ESD, shorts)\
[ \cf3 YES \cf0 / NO ]	Thermal hazards (power dissipation, friction, heat-sensitive/flamable components)\
[ \cf3 YES \cf0 / NO ]	Chemicals (batteries, contaminants, exposition, airborne particles)\
[ \cf3 YES \cf0 / NO ]	New components (first tests, original/student designs)\
[ \cf3 YES \cf0 / NO ]	Human risks (operator proximity, ergonomics, environment, bystanders)\
[ \cf3 YES \cf0 / NO ]	Others: _______________________________\
___________________________________________________\
___________________________________________________\ul \
\
\ulnone Risk mitigation:\
\
Neutralization at the source: _____________________________\
___________________________________________________\
\
Collective protections: _________________________________\
___________________________________________________\
\
Personal protections: _________________________________\
__________________________________________________\ul \
\ulnone \
\

\f0\b Approbation \
\

\f1\b0 Approved by: ______________________\
Date: ________________________\
\
\

\f0\b Test Results\
\

\itap1\trowd \taflags1 \trgaph108\trleft-108 \trbrdrt\brdrnil \trbrdrl\brdrnil \trbrdrr\brdrnil 
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf4 \clbrdrl\brdrs\brdrw20\brdrcf4 \clbrdrb\brdrs\brdrw20\brdrcf4 \clbrdrr\brdrs\brdrw20\brdrcf4 \clpadl100 \clpadr100 \gaph\cellx2160
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf4 \clbrdrl\brdrs\brdrw20\brdrcf4 \clbrdrb\brdrs\brdrw20\brdrcf4 \clbrdrr\brdrs\brdrw20\brdrcf4 \clpadl100 \clpadr100 \gaph\cellx4320
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf4 \clbrdrl\brdrs\brdrw20\brdrcf4 \clbrdrb\brdrs\brdrw20\brdrcf4 \clbrdrr\brdrs\brdrw20\brdrcf4 \clpadl100 \clpadr100 \gaph\cellx6480
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf4 \clbrdrl\brdrs\brdrw20\brdrcf4 \clbrdrb\brdrs\brdrw20\brdrcf4 \clbrdrr\brdrs\brdrw20\brdrcf4 \clpadl100 \clpadr100 \gaph\cellx8640
\pard\intbl\itap1\pardeftab720\partightenfactor0

\f1\b0 \cf0 Tester\cell 
\pard\intbl\itap1\pardeftab720\partightenfactor0
\cf0 Time & date\cell 
\pard\intbl\itap1\pardeftab720\partightenfactor0
\cf0 Results\cell 
\pard\intbl\itap1\pardeftab720\partightenfactor0
\cf0 Comments\cell \row

\itap1\trowd \taflags1 \trgaph108\trleft-108 \trbrdrl\brdrnil \trbrdrt\brdrnil \trbrdrr\brdrnil 
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf4 \clbrdrl\brdrs\brdrw20\brdrcf4 \clbrdrb\brdrs\brdrw20\brdrcf4 \clbrdrr\brdrs\brdrw20\brdrcf4 \clpadl100 \clpadr100 \gaph\cellx2160
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf4 \clbrdrl\brdrs\brdrw20\brdrcf4 \clbrdrb\brdrs\brdrw20\brdrcf4 \clbrdrr\brdrs\brdrw20\brdrcf4 \clpadl100 \clpadr100 \gaph\cellx4320
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf4 \clbrdrl\brdrs\brdrw20\brdrcf4 \clbrdrb\brdrs\brdrw20\brdrcf4 \clbrdrr\brdrs\brdrw20\brdrcf4 \clpadl100 \clpadr100 \gaph\cellx6480
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf4 \clbrdrl\brdrs\brdrw20\brdrcf4 \clbrdrb\brdrs\brdrw20\brdrcf4 \clbrdrr\brdrs\brdrw20\brdrcf4 \clpadl100 \clpadr100 \gaph\cellx8640
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 C\'e9dric Godin\cell 
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 03-20-2019\cell 
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 Passed\cell 
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 Robot path planning is jerky some times.\cell \lastrow\row
\pard\pardeftab720\partightenfactor0

\f0\b \cf0 \
Comments\
\

\f1\b0 Further refining of base planner setting needs to be done.
\f0\b \
}